/*
* Copyright (c) 2006-2007 Erin Catto http:
*
* This software is provided 'as-is', without any express or implied
* warranty.  In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
import b2Joint from "./b2Joint";
import b2Vec2 from "../../common/math/b2Vec2";
import b2Jacobian from "./b2Jacobian";
import b2JointNode from "./b2JointNode";
import b2Settings from "../../common/b2Settings";
import b2RevoluteJoint from "./b2RevoluteJoint";
import b2PrismaticJoint from "./b2PrismaticJoint";
// var b2GearJoint = Class.create();
// Object.extend(b2GearJoint.prototype, b2Joint.prototype);
// Object.extend(b2GearJoint.prototype, 
export default class b2GearJoint extends b2Joint {
    //--------------- Internals Below -------------------
    constructor(def) {
        super(def);
        this.m_ground1 = null;
        this.m_ground2 = null;
        // One of these is NULL.
        this.m_revolute1 = null;
        this.m_prismatic1 = null;
        // One of these is NULL.
        this.m_revolute2 = null;
        this.m_prismatic2 = null;
        this.m_groundAnchor1 = null;
        this.m_groundAnchor2 = null;
        this.m_localAnchor1 = null;
        this.m_localAnchor2 = null;
        this.m_J = null;
        this.m_constant = 0;
        this.m_ratio = 0;
        // Effective mass
        this.m_mass = 0;
        // Impulse for accumulation/warm starting.
        this.m_impulse = 0;
        // The constructor for b2Joint
        // initialize instance variables for references
        this.m_node1 = new b2JointNode();
        this.m_node2 = new b2JointNode();
        //
        this.m_type = def.type;
        this.m_prev = null;
        this.m_next = null;
        this.m_body1 = def.body1;
        this.m_body2 = def.body2;
        this.m_collideConnected = def.collideConnected;
        this.m_islandFlag = false;
        this.m_userData = def.userData;
        //
        // initialize instance variables for references
        this.m_groundAnchor1 = new b2Vec2();
        this.m_groundAnchor2 = new b2Vec2();
        this.m_localAnchor1 = new b2Vec2();
        this.m_localAnchor2 = new b2Vec2();
        this.m_J = new b2Jacobian();
        //
        // parent constructor
        //super(def);
        //b2Settings.b2Assert(def.joint1.m_type == b2Joint.e_revoluteJoint || def.joint1.m_type == b2Joint.e_prismaticJoint);
        //b2Settings.b2Assert(def.joint2.m_type == b2Joint.e_revoluteJoint || def.joint2.m_type == b2Joint.e_prismaticJoint);
        //b2Settings.b2Assert(def.joint1.m_body1.IsStatic());
        //b2Settings.b2Assert(def.joint2.m_body1.IsStatic());
        this.m_revolute1 = null;
        this.m_prismatic1 = null;
        this.m_revolute2 = null;
        this.m_prismatic2 = null;
        var coordinate1;
        var coordinate2;
        this.m_ground1 = def.joint1.m_body1;
        this.m_body1 = def.joint1.m_body2;
        if (def.joint1.m_type == b2Joint.e_revoluteJoint) {
            if (def.joint1 instanceof b2RevoluteJoint)
                this.m_revolute1 = def.joint1;
            this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1);
            this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2);
            coordinate1 = this.m_revolute1.GetJointAngle();
        }
        else {
            if (def.joint1 instanceof b2PrismaticJoint)
                this.m_prismatic1 = def.joint1;
            this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1);
            this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2);
            coordinate1 = this.m_prismatic1.GetJointTranslation();
        }
        this.m_ground2 = def.joint2.m_body1;
        this.m_body2 = def.joint2.m_body2;
        if (def.joint2.m_type == b2Joint.e_revoluteJoint) {
            if (def.joint2 instanceof b2RevoluteJoint)
                this.m_revolute2 = def.joint2;
            this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1);
            this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2);
            coordinate2 = this.m_revolute2.GetJointAngle();
        }
        else {
            if (def.joint2 instanceof b2PrismaticJoint)
                this.m_prismatic2 = def.joint2;
            this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1);
            this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2);
            coordinate2 = this.m_prismatic2.GetJointTranslation();
        }
        this.m_ratio = def.ratio;
        this.m_constant = coordinate1 + this.m_ratio * coordinate2;
        this.m_impulse = 0.0;
    }
    static Create(def) {
        return new b2GearJoint(def);
    }
    GetAnchor1() {
        //return this.m_body1.m_position + b2MulMV(this.m_body1.m_R, this.m_localAnchor1);
        var tMat = this.m_body1.m_R;
        return new b2Vec2(this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y), this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y));
    }
    GetAnchor2() {
        //return this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
        var tMat = this.m_body2.m_R;
        return new b2Vec2(this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y), this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y));
    }
    GetReactionForce(invTimeStep) {
        //b2Vec2 F(0.0f, 0.0f);
        return new b2Vec2();
    }
    GetReactionTorque(invTimeStep) {
        return 0.0;
    }
    GetRatio() {
        return this.m_ratio;
    }
    PrepareVelocitySolver() {
        var g1 = this.m_ground1;
        var g2 = this.m_ground2;
        var b1 = this.m_body1;
        var b2 = this.m_body2;
        // temp vars
        var ugX;
        var ugY;
        var rX;
        var rY;
        var tMat;
        var tVec;
        var crug;
        var K = 0.0;
        this.m_J.SetZero();
        if (this.m_revolute1) {
            this.m_J.angular1 = -1.0;
            K += b1.m_invI;
        }
        else {
            //b2Vec2 ug = b2MulMV(g1->m_R, this.m_prismatic1->m_localXAxis1);
            tMat = g1.m_R;
            tVec = this.m_prismatic1.m_localXAxis1;
            ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
            ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
            //b2Vec2 r = b2MulMV(b1->m_R, this.m_localAnchor1);
            tMat = b1.m_R;
            rX = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
            rY = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
            //var crug = b2Cross(r, ug);
            crug = rX * ugY - rY * ugX;
            //this.m_J.linear1 = -ug;
            this.m_J.linear1.Set(-ugX, -ugY);
            this.m_J.angular1 = -crug;
            K += b1.m_invMass + b1.m_invI * crug * crug;
        }
        if (this.m_revolute2) {
            this.m_J.angular2 = -this.m_ratio;
            K += this.m_ratio * this.m_ratio * b2.m_invI;
        }
        else {
            //b2Vec2 ug = b2Mul(g2->m_R, this.m_prismatic2->m_localXAxis1);
            tMat = g2.m_R;
            tVec = this.m_prismatic2.m_localXAxis1;
            ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
            ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
            //b2Vec2 r = b2Mul(b2->m_R, this.m_localAnchor2);
            tMat = b2.m_R;
            rX = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
            rY = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
            //float32 crug = b2Cross(r, ug);
            crug = rX * ugY - rY * ugX;
            //this.m_J.linear2 = -this.m_ratio * ug;
            this.m_J.linear2.Set(-this.m_ratio * ugX, -this.m_ratio * ugY);
            this.m_J.angular2 = -this.m_ratio * crug;
            K += this.m_ratio * this.m_ratio * (b2.m_invMass + b2.m_invI * crug * crug);
        }
        // Compute effective mass.
        //b2Settings.b2Assert(K > 0.0);
        this.m_mass = 1.0 / K;
        // Warm starting.
        //b1.m_linearVelocity += b1.m_invMass * this.m_impulse * this.m_J.linear1;
        b1.m_linearVelocity.x += b1.m_invMass * this.m_impulse * this.m_J.linear1.x;
        b1.m_linearVelocity.y += b1.m_invMass * this.m_impulse * this.m_J.linear1.y;
        b1.m_angularVelocity += b1.m_invI * this.m_impulse * this.m_J.angular1;
        //b2.m_linearVelocity += b2.m_invMass * this.m_impulse * this.m_J.linear2;
        b2.m_linearVelocity.x += b2.m_invMass * this.m_impulse * this.m_J.linear2.x;
        b2.m_linearVelocity.y += b2.m_invMass * this.m_impulse * this.m_J.linear2.y;
        b2.m_angularVelocity += b2.m_invI * this.m_impulse * this.m_J.angular2;
    }
    SolveVelocityConstraints(step) {
        var b1 = this.m_body1;
        var b2 = this.m_body2;
        var Cdot = this.m_J.Compute(b1.m_linearVelocity, b1.m_angularVelocity, b2.m_linearVelocity, b2.m_angularVelocity);
        var impulse = -this.m_mass * Cdot;
        this.m_impulse += impulse;
        b1.m_linearVelocity.x += b1.m_invMass * impulse * this.m_J.linear1.x;
        b1.m_linearVelocity.y += b1.m_invMass * impulse * this.m_J.linear1.y;
        b1.m_angularVelocity += b1.m_invI * impulse * this.m_J.angular1;
        b2.m_linearVelocity.x += b2.m_invMass * impulse * this.m_J.linear2.x;
        b2.m_linearVelocity.y += b2.m_invMass * impulse * this.m_J.linear2.y;
        b2.m_angularVelocity += b2.m_invI * impulse * this.m_J.angular2;
    }
    SolvePositionConstraints() {
        var linearError = 0.0;
        var b1 = this.m_body1;
        var b2 = this.m_body2;
        var coordinate1;
        var coordinate2;
        if (this.m_revolute1) {
            coordinate1 = this.m_revolute1.GetJointAngle();
        }
        else {
            coordinate1 = this.m_prismatic1.GetJointTranslation();
        }
        if (this.m_revolute2) {
            coordinate2 = this.m_revolute2.GetJointAngle();
        }
        else {
            coordinate2 = this.m_prismatic2.GetJointTranslation();
        }
        var C = this.m_constant - (coordinate1 + this.m_ratio * coordinate2);
        var impulse = -this.m_mass * C;
        b1.m_position.x += b1.m_invMass * impulse * this.m_J.linear1.x;
        b1.m_position.y += b1.m_invMass * impulse * this.m_J.linear1.y;
        b1.m_rotation += b1.m_invI * impulse * this.m_J.angular1;
        b2.m_position.x += b2.m_invMass * impulse * this.m_J.linear2.x;
        b2.m_position.y += b2.m_invMass * impulse * this.m_J.linear2.y;
        b2.m_rotation += b2.m_invI * impulse * this.m_J.angular2;
        b1.m_R.Set(b1.m_rotation);
        b2.m_R.Set(b2.m_rotation);
        return linearError < b2Settings.b2_linearSlop;
    }
}
b2Joint.Register(b2Joint.e_gearJoint, b2GearJoint.Create);
